Legless Locomotion for Legged Robots

The CMU Robotics Institute has
posted a new research paper (PDF
format) that proposes an unusual locomotion method for legged robots. Ravi Balasubramanian, Matt Mason and other
researcher are attempting to solve the problem of a high-centered robot
that has become stuck in rough terrain without any contact between the
robot's legs and the ground. Their solution? The robot can use its legs
as reaction masses to produce "attitude oscillations that result in
incremental translation". They've tested the new locomotion method using
RHex as well as their own two-legged
"Rocking and Rolling Robot".